I have an older but nice Canon telephoto lens for an older Minolta 35 mm camera. It pushes in and twists into the body of the camera to attach. Is there any adapter on the market that would allow this to fit on the end of my PD170 for long distance shots on a tripod?

No, there is not. Still camera lens aren't designed for flat-sensor cameras, they are designed to expect some curl in the film. That's why you don't see Canon and Nikon still camera lenses on HD video cameras (among other things)

Ahhhh...

Thanks Mike for the explanation.